OpenRaiser/Intern-Atlas huggingface dataset:
Realistic Volume Rendering with Environment-Synced Illumination in Mixed Reality
Venue: arXiv cs.GR 2023
Year: 2023

Interactive volume visualization using a mixed reality (MR) system helps provide users with an intuitive spatial perception of volumetric data. Due to sophisticated requirements of user interaction and vision when using MR head-mounted display (HMD) devices, the conflict between the realisticness and efficiency of direct volume rendering (DVR) is yet to be resolved. In this paper, a new MR visualization framework that supports interactive realistic DVR is proposed. An efficient illumination estimation method is used to identify the high dynamic range (HDR) environment illumination captured using a panorama camera. To improve the visual quality of Monte Carlo-based DVR, a new spatio-temporal denoising algorithm is designed. Based on a reprojection strategy, it makes full use of temporal coherence between adjacent frames and spatial coherence between the two screens of an HMD to optimize MR rendering quality. Several MR development modules are also developed for related devices to efficiently and stably display the DVR results in an MR HMD. Experimental results demonstrate that our framework can better support immersive and intuitive user perception during MR viewing than existing MR solutions.
RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking
Venue: arXiv cs.RO 2023
Year: 2023

The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets is strenuous due to manual efforts, operational costs, and safety challenges. A path toward such an universal agent would require a structured framework capable of wide generalization but trained within a reasonable data budget. In this paper, we develop an efficient system (RoboAgent) for training universal agents capable of multi-task manipulation skills using (a) semantic augmentations that can rapidly multiply existing datasets and (b) action representations that can extract performant policies with small yet diverse multi-modal datasets without overfitting. In addition, reliable task conditioning and an expressive policy architecture enable our agent to exhibit a diverse repertoire of skills in novel situations specified using language commands. Using merely 7500 demonstrations, we are able to train a single agent capable of 12 unique skills, and demonstrate its generalization over 38 tasks spread across common daily activities in diverse kitchen scenes. On average, RoboAgent outperforms prior methods by over 40% in unseen situations while being more sample efficient and being amenable to capability improvements and extensions through fine-tuning. Videos at https://robopen.github.io/
Generalized Simple Regenerating Codes: Trading Sub-packetization and Fault Tolerance
Venue: arXiv cs.IT 2023
Year: 2023

Maximum distance separable (MDS) codes have the optimal trade-off between storage efficiency and fault tolerance, which are widely used in distributed storage systems. As typical non-MDS codes, simple regenerating codes (SRCs) can achieve both smaller repair bandwidth and smaller repair locality than traditional MDS codes in repairing single-node erasure. In this paper, we propose {\em generalized simple regenerating codes} (GSRCs) that can support much more parameters than that of SRCs. We show that there is a trade-off between sub-packetization and fault tolerance in our GSRCs, and SRCs achieve a special point of the trade-off of GSRCs. We show that the fault tolerance of our GSRCs increases when the sub-packetization increases linearly. We also show that our GSRCs can locally repair any singe-symbol erasure and any single-node erasure, and the repair bandwidth of our GSRCs is smaller than that of the existing related codes.
Gender Inequalities: Women Researchers Require More Knowledge in Specific and Experimental Topics
Venue: arXiv cs.CY 2023
Year: 2023

Gender inequalities in science have long been observed globally. Studies have demonstrated it through survey data or published literature, focusing on the interests of subjects or authors; few, however, examined the manifestation of gender inequalities on researchers' knowledge status. This study analyzes the relationship between regional and gender identities, topics, and knowledge status while revealing the female labor division in science and scientific research using online Q&A from researchers. We find that gender inequalities are merged with both regional-specific characteristics and global common patterns. Women's field and topic distribution within fields are influenced by regions, yet the prevalent topics are consistent in all regions. Women are more involved in specific topics, particularly topics about experiments with weaker levels of knowledge and they are of less assistance. To promote inequality in science, the scientific community should pay more attention to reducing the knowledge gap and encourage women to work on unexplored topics and areas.
sasdim: self-adaptive noise scaling diffusion model for spatial time series imputation
Venue: arXiv cs.LG 2023
Year: 2023

Spatial time series imputation is critically important to many real applications such as intelligent transportation and air quality monitoring. Although recent transformer and diffusion model based approaches have achieved significant performance gains compared with conventional statistic based methods, spatial time series imputation still remains as a challenging issue due to the complex spatio-temporal dependencies and the noise uncertainty of the spatial time series data. Especially, recent diffusion process based models may introduce random noise to the imputations, and thus cause negative impact on the model performance. To this end, we propose a self-adaptive noise scaling diffusion model named SaSDim to more effectively perform spatial time series imputation. Specially, we propose a new loss function that can scale the noise to the similar intensity, and propose the across spatial-temporal global convolution module to more effectively capture the dynamic spatial-temporal dependencies. Extensive experiments conducted on three real world datasets verify the effectiveness of SaSDim by comparison with current state-of-the-art baselines.
Dynamic Early Exiting Predictive Coding Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

Internet of Things (IoT) sensors are nowadays heavily utilized in various real-world applications ranging from wearables to smart buildings passing by agrotechnology and health monitoring. With the huge amounts of data generated by these tiny devices, Deep Learning (DL) models have been extensively used to enhance them with intelligent processing. However, with the urge for smaller and more accurate devices, DL models became too heavy to deploy. It is thus necessary to incorporate the hardware's limited resources in the design process. Therefore, inspired by the human brain known for its efficiency and low power consumption, we propose a shallow bidirectional network based on predictive coding theory and dynamic early exiting for halting further computations when a performance threshold is surpassed. We achieve comparable accuracy to VGG-16 in image classification on CIFAR-10 with fewer parameters and less computational complexity.
An Adaptive Spatial-Temporal Local Feature Difference Method for Infrared Small-moving Target Detection
Venue: arXiv cs.CV 2023
Year: 2023

Detecting small moving targets accurately in infrared (IR) image sequences is a significant challenge. To address this problem, we propose a novel method called spatial-temporal local feature difference (STLFD) with adaptive background suppression (ABS). Our approach utilizes filters in the spatial and temporal domains and performs pixel-level ABS on the output to enhance the contrast between the target and the background. The proposed method comprises three steps. First, we obtain three temporal frame images based on the current frame image and extract two feature maps using the designed spatial domain and temporal domain filters. Next, we fuse the information of the spatial domain and temporal domain to produce the spatial-temporal feature maps and suppress noise using our pixel-level ABS module. Finally, we obtain the segmented binary map by applying a threshold. Our experimental results demonstrate that the proposed method outperforms existing state-of-the-art methods for infrared small-moving target detection.
An Automatic Evaluation Framework for Multi-turn Medical Consultations Capabilities of Large Language Models
Venue: arXiv cs.CL 2023
Year: 2023

Large language models (LLMs) have achieved significant success in interacting with human. However, recent studies have revealed that these models often suffer from hallucinations, leading to overly confident but incorrect judgments. This limits their application in the medical domain, where tasks require the utmost accuracy. This paper introduces an automated evaluation framework that assesses the practical capabilities of LLMs as virtual doctors during multi-turn consultations. Consultation tasks are designed to require LLMs to be aware of what they do not know, to inquire about missing medical information from patients, and to ultimately make diagnoses. To evaluate the performance of LLMs for these tasks, a benchmark is proposed by reformulating medical multiple-choice questions from the United States Medical Licensing Examinations (USMLE), and comprehensive evaluation metrics are developed and evaluated on three constructed test sets. A medical consultation training set is further constructed to improve the consultation ability of LLMs. The results of the experiments show that fine-tuning with the training set can alleviate hallucinations and improve LLMs' performance on the proposed benchmark. Extensive experiments and ablation studies are conducted to validate the effectiveness and robustness of the proposed framework.
Where are We in Event-centric Emotion Analysis? Bridging Emotion Role Labeling and Appraisal-based Approaches
Venue: arXiv cs.CL 2023
Year: 2023

The term emotion analysis in text subsumes various natural language processing tasks which have in common the goal to enable computers to understand emotions. Most popular is emotion classification in which one or multiple emotions are assigned to a predefined textual unit. While such setting is appropriate for identifying the reader's or author's emotion, emotion role labeling adds the perspective of mentioned entities and extracts text spans that correspond to the emotion cause. The underlying emotion theories agree on one important point; that an emotion is caused by some internal or external event and comprises several subcomponents, including the subjective feeling and a cognitive evaluation. We therefore argue that emotions and events are related in two ways. (1) Emotions are events; and this perspective is the fundament in natural language processing for emotion role labeling. (2) Emotions are caused by events; a perspective that is made explicit with research how to incorporate psychological appraisal theories in NLP models to interpret events. These two research directions, role labeling and (event-focused) emotion classification, have by and large been tackled separately. In this paper, we contextualize both perspectives and discuss open research questions.
Asymmetric Momentum: A Rethinking of Gradient Descent
Venue: arXiv cs.LG 2023
Year: 2023

Through theoretical and experimental validation, unlike all existing adaptive methods like Adam which penalize frequently-changing parameters and are only applicable to sparse gradients, we propose the simplest SGD enhanced method, Loss-Controlled Asymmetric Momentum(LCAM). By averaging the loss, we divide training process into different loss phases and using different momentum. It not only can accelerates slow-changing parameters for sparse gradients, similar to adaptive optimizers, but also can choose to accelerates frequently-changing parameters for non-sparse gradients, thus being adaptable to all types of datasets. We reinterpret the machine learning training process through the concepts of weight coupling and weight traction, and experimentally validate that weights have directional specificity, which are correlated with the specificity of the dataset. Thus interestingly, we observe that in non-sparse gradients, frequently-changing parameters should actually be accelerated, which is completely opposite to traditional adaptive perspectives. Compared to traditional SGD with momentum, this algorithm separates the weights without additional computational costs. It is noteworthy that this method relies on the network's ability to extract complex features. We primarily use Wide Residual Networks for our research, employing the classic datasets Cifar10 and Cifar100 to test the ability for feature separation and conclude phenomena that are much more important than just accuracy rates. Finally, compared to classic SGD tuning methods, while using WRN on these two datasets and with nearly half the training epochs, we achieve equal or better test accuracy.
Connectivity and interference in device-to-device networks in Poisson-Voronoi cities
Venue: arXiv cs.NI 2023
Year: 2023

To study the overall connectivity in device-to-device networks in cities, we incorporate a signal-to-interference-plus-noise connectivity model into a Poisson-Voronoi tessellation model representing the streets of a city. Relays are located at crossroads (or street intersections), whereas (user) devices are scattered along streets. Between any two adjacent relays, we assume data can be transmitted either directly between the relays or through users, given they share a common street. Our simulation results reveal that the network connectivity is ensured when the density of users (on the streets) exceeds a certain critical value. But then the network connectivity disappears when the user density exceeds a second critical value. The intuition is that for longer streets, where direct relay-to-relay communication is not possible, users are needed to transmit data between relays, but with too many users the interference becomes too strong, eventually reducing the overall network connectivity. This observation on the user density evokes previous results based on another wireless network model, where transmitter-receivers were scattered across the plane. This effect disappears when interference is removed from the model, giving a variation of the classic Gilbert model and recalling the lesson that neglecting interference in such network models can give overly optimistic results. For physically reasonable model parameters, we show that crowded streets (with more than six users on a typical street) lead to a sudden drop in connectivity. We also give numerical results outlining a relationship between the user density and the strength of any interference reduction techniques.
Making Large Language Models Better Reasoners with Alignment
Venue: arXiv cs.CL 2023
Year: 2023

Reasoning is a cognitive process of using evidence to reach a sound conclusion. The reasoning capability is essential for large language models (LLMs) to serve as the brain of the artificial general intelligence agent. Recent studies reveal that fine-tuning LLMs on data with the chain of thought (COT) reasoning process can significantly enhance their reasoning capabilities. However, we find that the fine-tuned LLMs suffer from an \textit{Assessment Misalignment} problem, i.e., they frequently assign higher scores to subpar COTs, leading to potential limitations in their reasoning abilities. To address this problem, we introduce an \textit{Alignment Fine-Tuning (AFT)} paradigm, which involves three steps: 1) fine-tuning LLMs with COT training data; 2) generating multiple COT responses for each question, and categorizing them into positive and negative ones based on whether they achieve the correct answer; 3) calibrating the scores of positive and negative responses given by LLMs with a novel constraint alignment loss. Specifically, the constraint alignment loss has two objectives: a) Alignment, which guarantees that positive scores surpass negative scores to encourage answers with high-quality COTs; b) Constraint, which keeps the negative scores confined to a reasonable range to prevent the model degradation. Beyond just the binary positive and negative feedback, the constraint alignment loss can be seamlessly adapted to the ranking situations when ranking feedback is accessible. Furthermore, we also delve deeply into recent ranking-based alignment methods, such as DPO, RRHF, and PRO, and discover that the constraint, which has been overlooked by these approaches, is also crucial for their performance. Extensive experiments on four reasoning benchmarks with both binary and ranking feedback demonstrate the effectiveness of AFT.
Bring the Noise: Introducing Noise Robustness to Pretrained Automatic Speech Recognition
Venue: arXiv cs.CL 2023
Year: 2023

In recent research, in the domain of speech processing, large End-to-End (E2E) systems for Automatic Speech Recognition (ASR) have reported state-of-the-art performance on various benchmarks. These systems intrinsically learn how to handle and remove noise conditions from speech. Previous research has shown, that it is possible to extract the denoising capabilities of these models into a preprocessor network, which can be used as a frontend for downstream ASR models. However, the proposed methods were limited to specific fully convolutional architectures. In this work, we propose a novel method to extract the denoising capabilities, that can be applied to any encoder-decoder architecture. We propose the Cleancoder preprocessor architecture that extracts hidden activations from the Conformer ASR model and feeds them to a decoder to predict denoised spectrograms. We train our pre-processor on the Noisy Speech Database (NSD) to reconstruct denoised spectrograms from noisy inputs. Then, we evaluate our model as a frontend to a pretrained Conformer ASR model as well as a frontend to train smaller Conformer ASR models from scratch. We show that the Cleancoder is able to filter noise from speech and that it improves the total Word Error Rate (WER) of the downstream model in noisy conditions for both applications.
Domain Adaptation for Satellite-Borne Hyperspectral Cloud Detection
Venue: arXiv cs.CV 2023
Year: 2023

The advent of satellite-borne machine learning hardware accelerators has enabled the on-board processing of payload data using machine learning techniques such as convolutional neural networks (CNN). A notable example is using a CNN to detect the presence of clouds in hyperspectral data captured on Earth observation (EO) missions, whereby only clear sky data is downlinked to conserve bandwidth. However, prior to deployment, new missions that employ new sensors will not have enough representative datasets to train a CNN model, while a model trained solely on data from previous missions will underperform when deployed to process the data on the new missions. This underperformance stems from the domain gap, i.e., differences in the underlying distributions of the data generated by the different sensors in previous and future missions. In this paper, we address the domain gap problem in the context of on-board hyperspectral cloud detection. Our main contributions lie in formulating new domain adaptation tasks that are motivated by a concrete EO mission, developing a novel algorithm for bandwidth-efficient supervised domain adaptation, and demonstrating test-time adaptation algorithms on space deployable neural network accelerators. Our contributions enable minimal data transmission to be invoked (e.g., only 1% of the weights in ResNet50) to achieve domain adaptation, thereby allowing more sophisticated CNN models to be deployed and updated on satellites without being hampered by domain gap and bandwidth limitations.
Traffic Light Recognition using Convolutional Neural Networks: A Survey
Venue: arXiv cs.CV 2023
Year: 2023

Real-time traffic light recognition is essential for autonomous driving. Yet, a cohesive overview of the underlying model architectures for this task is currently missing. In this work, we conduct a comprehensive survey and analysis of traffic light recognition methods that use convolutional neural networks (CNNs). We focus on two essential aspects: datasets and CNN architectures. Based on an underlying architecture, we cluster methods into three major groups: (1) modifications of generic object detectors which compensate for specific task characteristics, (2) multi-stage approaches involving both rule-based and CNN components, and (3) task-specific single-stage methods. We describe the most important works in each cluster, discuss the usage of the datasets, and identify research gaps.
A Wideband MIMO Channel Model for Aerial Intelligent Reflecting Surface-Assisted Wireless Communications
Venue: arXiv cs.IT 2023
Year: 2023

Compared to traditional intelligent reflecting surfaces(IRS), aerial IRS (AIRS) has unique advantages, such as more flexible deployment and wider service coverage. However, modeling AIRS in the channel presents new challenges due to their mobility. In this paper, a three-dimensional (3D) wideband channel model for AIRS and IRS joint-assisted multiple-input multiple-output (MIMO) communication system is proposed, where considering the rotational degrees of freedom in three directions and the motion angles of AIRS in space. Based on the proposed model, the channel impulse response (CIR), correlation function, and channel capacity are derived, and several feasible joint phase shifts schemes for AIRS and IRS units are proposed. Simulation results show that the proposed model can capture the channel characteristics accurately, and the proposed phase shifts methods can effectively improve the channel statistical characteristics and increase the system capacity. Additionally, we observe that in certain scenarios, the paths involving the IRS and the line-of-sight (LoS) paths exhibit similar characteristics. These findings provide valuable insights for the future development of intelligent communication systems.
Orchestration in the Cloud-to-Things Compute Continuum: Taxonomy, Survey and Future Directions
Venue: arXiv cs.DC 2023
Year: 2023

IoT systems are becoming an essential part of our environment. Smart cities, smart manufacturing, augmented reality, and self-driving cars are just some examples of the wide range of domains, where the applicability of such systems has been increasing rapidly. These IoT use cases often require simultaneous access to geographically distributed arrays of sensors, and heterogeneous remote, local as well as multi-cloud computational resources. This gives birth to the extended Cloud-to-Things computing paradigm. The emergence of this new paradigm raised the quintessential need to extend the orchestration requirements i.e., the automated deployment and run-time management) of applications from the centralised cloud-only environment to the entire spectrum of resources in the Cloud-to-Things continuum. In order to cope with this requirement, in the last few years, there has been a lot of attention to the development of orchestration systems in both industry and academic environments. This paper is an attempt to gather the research conducted in the orchestration for the Cloud-to-Things continuum landscape and to propose a detailed taxonomy, which is then used to critically review the landscape of existing research work. We finally discuss the key challenges that require further attention and also present a conceptual framework based on the conducted analysis.